| 摘要 |
PURPOSE: To mechanistically carry out compliance noninterference by connecting a hand to one point and actuators to the remaining points out of the specific three points situated on the straight line of a pantograph interposed between the joint on one side of a two-joint link and the compliance variable actuators. CONSTITUTION: The respective one ends of two compliance variable actuators A2 , A3 are connected to joints on one side of the two-joint link being driven by an actuator A1 , and these actuators A2 , A3 are provided so as to be driven in two directions 4, 5 being primarily independent to each other. Further, a pantograph 3 connected by a tunable joint to the joint on the one side of this two-joint link is connected to the other ends of the two compliance variable actuator A2 , A3 and is enabled to be moved on the planeαdetermined by the two directions 4, 5. In the pantograph 3, out of three points on one straight line in the relationship that when one point is fixed, the other two points describe similar locuses, a hand 10 is provided to the one point, and the actuators A2 , A3 are connected to the one side out of the remaining two points.
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